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Code Issues Wiki Activity

Code tidy and comments update

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This commit is contained in:
Martin Budden 2017-08-30 08:50:40 +01:00
parent 524afb2a47
commit eadaff0bdd
3 changed files with 40 additions and 40 deletions
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20
src/main/drivers/accgyro/accgyro_mpu.c
View file

@ -39,16 +39,16 @@
#include "drivers/system.h"
#include "drivers/time.h"
#include "accgyro.h"
#include "accgyro_mpu3050.h"
#include "accgyro_mpu6050.h"
#include "accgyro_mpu6500.h"
#include "accgyro_spi_bmi160.h"
#include "accgyro_spi_icm20689.h"
#include "accgyro_spi_mpu6000.h"
#include "accgyro_spi_mpu6500.h"
#include "accgyro_spi_mpu9250.h"
#include "accgyro_mpu.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_mpu3050.h"
#include "drivers/accgyro/accgyro_mpu6050.h"
#include "drivers/accgyro/accgyro_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_bmi160.h"
#include "drivers/accgyro/accgyro_spi_icm20689.h"
#include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/accgyro/accgyro_mpu.h"
mpuResetFnPtr mpuResetFn;

41
src/main/fc/fc_rc.c
View file

@ -23,14 +23,11 @@
#include "build/debug.h"
#include "common/maths.h"
#include "common/axis.h"
#include "common/maths.h"
#include "common/utils.h"
#include "common/filter.h"
#include "config/feature.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "fc/config.h"
#include "fc/controlrate_profile.h"
@ -40,33 +37,36 @@
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/pid.h"
#include "rx/rx.h"
#include "scheduler/scheduler.h"
#include "sensors/battery.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/pid.h"
#include "flight/mixer.h"
static float setpointRate[3], rcDeflection[3], rcDeflectionAbs[3];
static float throttlePIDAttenuation;
float getSetpointRate(int axis) {
float getSetpointRate(int axis)
{
return setpointRate[axis];
}
float getRcDeflection(int axis) {
float getRcDeflection(int axis)
{
return rcDeflection[axis];
}
float getRcDeflectionAbs(int axis) {
float getRcDeflectionAbs(int axis)
{
return rcDeflectionAbs[axis];
}
float getThrottlePIDAttenuation(void) {
float getThrottlePIDAttenuation(void)
{
return throttlePIDAttenuation;
}
@ -75,10 +75,8 @@ static int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for
void generateThrottleCurve(void)
{
uint8_t i;
for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
int16_t tmp = 10 * i - currentControlRateProfile->thrMid8;
for (int i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
const int16_t tmp = 10 * i - currentControlRateProfile->thrMid8;
uint8_t y = 1;
if (tmp > 0)
y = 100 - currentControlRateProfile->thrMid8;
@ -89,7 +87,7 @@ void generateThrottleCurve(void)
}
}
int16_t rcLookupThrottle(int32_t tmp)
static int16_t rcLookupThrottle(int32_t tmp)
{
const int32_t tmp2 = tmp / 100;
// [0;1000] -> expo -> [MINTHROTTLE;MAXTHROTTLE]
@ -114,6 +112,7 @@ static void calculateSetpointRate(int axis)
rcRate += RC_RATE_INCREMENTAL * (rcRate - 2.0f);
}
// scale rcCommandf to range [-1.0, 1.0]
float rcCommandf = rcCommand[axis] / 500.0f;
rcDeflection[axis] = rcCommandf;
const float rcCommandfAbs = ABS(rcCommandf);
@ -196,14 +195,14 @@ void processRcCommand(void)
if (rxConfig()->rcInterpolation) {
// Set RC refresh rate for sampling and channels to filter
switch (rxConfig()->rcInterpolation) {
case(RC_SMOOTHING_AUTO):
case RC_SMOOTHING_AUTO:
rxRefreshRate = currentRxRefreshRate + 1000; // Add slight overhead to prevent ramps
break;
case(RC_SMOOTHING_MANUAL):
case RC_SMOOTHING_MANUAL:
rxRefreshRate = 1000 * rxConfig()->rcInterpolationInterval;
break;
case(RC_SMOOTHING_OFF):
case(RC_SMOOTHING_DEFAULT):
case RC_SMOOTHING_OFF:
case RC_SMOOTHING_DEFAULT:
default:
rxRefreshRate = rxGetRefreshRate();
}

7
src/main/flight/pid.c
View file

@ -353,6 +353,7 @@ static float calcHorizonLevelStrength(void)
static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
// calculate error angle and limit the angle to the max inclination
// rcDeflection is in range [-1.0, 1.0]
float angle = pidProfile->levelSensitivity * getRcDeflection(axis);
#ifdef GPS
angle += GPS_angle[axis];
@ -360,11 +361,11 @@ static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPit
angle = constrainf(angle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit);
const float errorAngle = angle - ((attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f);
if (FLIGHT_MODE(ANGLE_MODE)) {
// ANGLE mode - control is angle based, so control loop is needed
// ANGLE mode - control is angle based
currentPidSetpoint = errorAngle * levelGain;
} else {
// HORIZON mode - direct sticks control is applied to rate PID
// mix up angle error to desired AngleRate to add a little auto-level feel
// HORIZON mode - mix of ANGLE and ACRO modes
// mix in errorAngle to currentPidSetpoint to add a little auto-level feel
const float horizonLevelStrength = calcHorizonLevelStrength();
currentPidSetpoint = currentPidSetpoint + (errorAngle * horizonGain * horizonLevelStrength);
}